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RC

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Alex B.
2025-01-05 00:56:48 -05:00
parent 0c6d9b3031
commit a923aeaad2
1 changed files with 40 additions and 0 deletions
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40
ESP-IDF_Robot/main/rc.h
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@@ -85,6 +85,46 @@ static void update_pwm (int x, int y) {
x = x_sum / sample;
y = y_sum / sample;
s++;
if ((x > 0 && x < 500) && (y > 500)) {
ESP_LOGW("RC", "FORWARD");
// Both sides rotate in forward direction.
m.motor1_rpm_pcm = y; // left, forward
m.motor2_rpm_pcm = y; // right, forward
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
else if ((x > 0 && x < 500) && (y < -200)) {
ESP_LOGW("RC", "REVERSE");
// Both sides rotate in reverse direction.
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = -y;
m.motor4_rpm_pcm = -y;
}
else if ((y < 0 && y > -200) && (x < -1000)) {
ESP_LOGW("RC", "LEFT");
// Left side rotates in forward direction, right side rotates in reverse direction.
m.motor1_rpm_pcm = -x;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = -x;
m.motor4_rpm_pcm = 0;
}
else if ((y < 0 && y > -200) && (x > 1000)) {
ESP_LOGW("RC", "RIGHT");
// Right side rotates in forward direction, left side rotates in reverse direction.
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = x;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = x;
}
else {
ESP_LOGW("RC", "STAND STILL");
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
}
else {
x_sum = 0;